Setting change assist apparatus

ABSTRACT

Provided is a setting change assist apparatus for a vehicle configured to: determine whether a setting change request for changing a setting state of driving support control is issued; when determining that the setting change request is issued, notify a driver of confirmation information including information on a content of the setting change request and information on a predetermined approval operation with respect to the setting change request; and change the setting state of the driving support control in accordance with the setting change request when the driver performs the approval operation.

CROSS-REFERENCES TO RELATED APPLICATION

The present application claims priority to Japanese patent applicationNo. JP 2019-190651 filed on Oct. 18, 2019, the content of which ishereby incorporated by reference in its entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to a setting change assist apparatusconfigured to assist a driver in changing a setting state of drivingsupport control.

2. Description of the Related Art

Hitherto, there has been known a vehicle configured to perform drivingsupport control for supporting/assist a driving operation of a driver.

Examples of the driving support control include constant speed travelcontrol, preceding-vehicle following-travel control, lane keepingcontrol, autonomous driving control (self-driving control), and thelike. The lane keeping control may be referred to as “lane tracingassist control (LTA)”.

Further, there has been known a setting change assist apparatusconfigured to assist a driver in changing a setting state of the drivingsupport control. The setting state is a target speed in the constantspeed travel control, for example. One of known setting change assistapparatuses (hereinafter referred to as a “related-art apparatus”)recognizes, through voice recognition processing, words regarding avehicle speed spoken by a driver. The related-art apparatus sets therecognized vehicle speed as the target speed in the constant speedtravel control (See Japanese Patent Application Laid-open No.2014-000882).

However, the related-art apparatus may change the setting state of thedriving support control to a setting state different from an intentionof the driver due to the driver's voice/utterance being erroneouslyrecognized.

SUMMARY

The present disclosure provides a technique capable of reducing thepossibility that the setting state of the driving support control iserroneously set in a case where the driver speaks to change the settingstate of the driving support control.

In one or more embodiments, there is provided a setting change assistapparatus for a vehicle, including: a controller configured to performdriving support control for the vehicle in accordance with a settingstate of the driving support control; an operating device configured tobe operable by a driver of the vehicle, and used for an operationchanging the setting state of the driving support control; and anotification device configured to notify the driver of information. Thecontroller is further configured to: execute voice recognitionprocessing for recognizing an utterance of the driver; determine whethera setting change request is issued by the utterance, the setting changerequest being a request for changing the setting state of the drivingsupport control; when determining through the voice recognitionprocessing that the setting change request is issued, cause thenotification device to notify the driver of confirmation informationincluding information on a content of the setting change request, andinformation on a predetermined approval operation with respect to thesetting change request; and when the driver performs an operationcorresponding to the information on the approval operation by using theoperating device, change the setting state of the driving supportcontrol in accordance with the setting change request.

The setting change request different from an intention of the driver maybe issued due to his/her utterance being erroneously recognized. In sucha case, according to the setting change assist apparatus having theabove configuration, the confirmation information does not match thecontent uttered/spoken by the driver. Therefore, the driver canunderstand that his/her utterance has been erroneously recognized. Inthis situation, the driver does not perform the approval operation.Since the driver does not perform the approval operation, the settingchange assist apparatus does not change the setting state of the drivingsupport control in accordance with the setting change request. In thismanner, even if the setting change request different from the intentionof the driver is issued due to his/her utterance being erroneouslyrecognized, it is possible to prevent the setting state of the drivingsupport control from being set erroneously.

In one or more embodiments, the operating device includes a plurality ofoperating parts. The setting change request includes a plurality oftypes of requests. The approval operation is an operation on one of theplurality of operating parts. Further, the controller is configured tochange the operating part to be operated when the driver performs theapproval operation in accordance with the type of the setting changerequest.

According to the above configuration, the operating parts to be operatedwhen performing the approval operation differ from each other dependingon the type of the setting change request. Therefore, it is possible toconfirm the intention of the driver more accurately.

In one or more embodiments, the controller is configured to perform thedriving support control when an operating state as the setting state isan on state, and stop the driving support control when the operatingstate is an off state. The operating device includes a first operatingpart to be operated for changing the operating state from the off stateto the on state, and a second operating part to be operated for changingthe operating state from the on state to the off state. The settingchange request includes an on request which is a request for changingthe operating state from the off state to the on state, and an offrequest which is a request for changing the operating state from the onstate to the off state. The controller is configured to: whendetermining through the voice recognition processing that the on requestis issued, determine an operation on the first operating part as theapproval operation; and when the operation on the first operating partis performed, change the operating state from the off state to the onstate. The controller is configured to: when determining through thevoice recognition processing that the off request is issued, determinean operation on the second operating part as the approval operation; andwhen the operation on the second operating part is performed, change theoperating state from the on state to the off state.

According to the above configuration, even if the setting change request(the on request or the off request) different from the intention of thedriver is issued due to his/her utterance being erroneously recognized,it is possible to prevent the setting state of the driving supportcontrol from being set erroneously.

In one or more embodiments, the controller is configured to set, as thesetting state, a value of a control parameter for support provided bythe driving support control, and perform the driving support control inaccordance with the value of the control parameter. The operating deviceincludes a third operating part to be operated for increasing the valueof the control parameter, and a fourth operating part to be operated fordecreasing the value of the control parameter. The setting changerequest includes an increasing request which is a request for increasingthe value of the control parameter, and a decreasing request which is arequest for decreasing the value of the control parameter. Thecontroller is configured to: when determining through the voicerecognition processing that the increasing request is issued, determinean operation on the third operating part as the approval operation; andwhen the operation on the third operating part is performed, increasethe value of the control parameter in accordance with the increasingrequest. The controller is configured to: when determining through thevoice recognition processing that the decreasing request is issued,determine an operation on the fourth operating part as the approvaloperation; and when the operation on the fourth operating part isperformed, decrease the value of the control parameter in accordancewith the decreasing request.

According to the above configuration, even if the setting change request(the increasing request or the decreasing request) different from theintention of the driver is issued due to his/her utterance beingerroneously recognized, it is possible to prevent the value of thecontrol parameter from being set erroneously.

In one or more embodiments, the controller is configured to, even in acase where the controller determines through the voice recognitionprocessing that a request other than the off request is issued, when thedriver performs the operation on the second operating part beforeperforming the approval operation corresponding to the issued request,change the operating state from the on state to the off state.

When the driver operates the second operating part, the driver intendsto perform a driving operation by himself/herself. According to theabove configuration, in a case where the driver operates the secondoperating part before performing the approval operation, it is possibleto immediately reflect the intention of the driver for changing theoperating state of the driving support control to the off state.

In one or more embodiments, the controller is configured to, whendetermining through the voice recognition processing that two or morerequest are issued as the setting change request, determine an operationon one of the plurality of operating parts as the approval operation.

According to the above configuration, even if two or more requests areissued as the setting change request, the driver operates one of theplurality of operating parts to thereby approve those requests. Since itis not necessary for the driver to operate two or more operating parts,it is possible to reduce the possibility that the driver feels theoperation to be troublesome.

In one or more embodiments, the controller is configured to perform thedriving support control when an operating state as the setting state isan on state, and stop the driving support control when the operatingstate is an off state. The operating device includes a first operatingpart to be operated for changing the operating state from the off stateto the on state, and a second operating part to be operated for changingthe operating state from the on state to the off state. The settingchange request includes an on request which is a request for changingthe operating state from the off state to the on state, and an offrequest which is a request for changing the operating state from the onstate to the off state. The controller is configured to: whendetermining through the voice recognition processing that the on requestis issued, determine an operation on the first operating part as theapproval operation; and when the operation on the first operating partis performed, change the operating state from the off state to the onstate. The controller is configured to, when determining through thevoice recognition processing that the off request is issued, change theoperating state from the on state to the off state without requestingthe driver to perform the approval operation.

When the off request is issued, the driver often wishes to perform adriving operation by himself/herself as soon as possible. In such acase, when the driver is requested to perform the approval operation,the driver may feel the operation to be troublesome. According to theabove configuration, when the off request is issued, the controllerchanges the operating state of the driving support control to the offstate without requesting the driver to perform the approval operation.Accordingly, it is possible to reduce the possibility that the driverfeels troublesome.

According to one or more embodiments, the above-mentioned controller isimplemented by a microprocessor programmed for performing one or moreoperations and/or functionality described herein. In addition, thecontroller may be implemented, in whole or in part, by specificallyconfigured to hardware (e.g., by one or more application specificintegrated circuits or ASIC(s)).

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic configuration diagram of a setting change assistapparatus according to at least one embodiment.

FIG. 2 is a diagram for illustrating a word table according to at leastone embodiment.

FIG. 3 is a diagram for illustrating an approval operation tableaccording to at least one embodiment.

FIG. 4 is a diagram for illustrating confirmation information displayedon a display when an ACC-on request is issued.

FIG. 5 is a diagram for illustrating confirmation information displayedon the display when an ACC-off request is issued.

FIG. 6 is a diagram for illustrating confirmation information displayedon the display when a speed increasing request is issued.

FIG. 7 is a diagram for illustrating confirmation information displayedon the display when a speed decreasing request is issued.

FIG. 8 is a flowchart for illustrating a “requestdetection/determination routine” to be executed by a CPU of a drivingsupport ECU according to at least one embodiment.

FIG. 9 is a flowchart for illustrating a “request approval routine” tobe executed by the CPU of the driving support ECU according to at leastone embodiment.

FIG. 10 is a flowchart for illustrating a “request approval routine” tobe executed by the CPU of the driving support ECU according to amodification example.

FIG. 11 is a diagram for illustrating an approval operation tableaccording to a modification example.

DESCRIPTION OF THE EMBODIMENTS

As illustrated in FIG. 1 , a setting change assist apparatus accordingto at least one embodiment is applied to a vehicle VA. The settingchange assist apparatus is hereinafter simply referred to as“apparatus”. The apparatus includes a driving support ECU 10, an engineECU 20, and a brake ECU 30. These ECUs each includes an electroniccontrol unit having a microcomputer as a main component. The ECUs areconnected to each other such that information can be transmitted andreceived to and from each other via a controller area network (CAN) (notshown).

The microcomputer herein includes a CPU, a ROM, a RAM, a non-volatilememory, an interface I/F, and the like. For example, the driving supportECU 10 includes a CPU 101, a ROM 102, a RAM 103, a non-volatile memory104, an interface 105, and the like. The CPU 101 executes instructions(programs and routines) stored in the ROM 102 to realize variousfunctions.

The driving support ECU 10 is connected to sensors listed below, and isconfigured to receive detection signals or output signals from thosesensors. Alternatively, each sensor may be connected to an ECU otherthan the driving support ECU 10. In such a case, the driving support ECU10 receives, through the CAN, the detection signal or output signal ofthat sensor from the ECU to which that sensor is connected.

An accelerator pedal operation amount sensor 11 is configured to detectan operation amount (accelerator opening) AP of an accelerator pedal 11a, and output a signal indicative of the accelerator pedal operationamount AP.

A brake pedal operation amount sensor 12 is configured to detect anoperation amount BP of a brake pedal 12 a, and output a signalindicative of the brake pedal operation amount BP.

A vehicle speed sensor 13 is configured to detect a travel speed SPD ofthe vehicle (that is, vehicle speed), and output a signal indicative ofthe vehicle speed SPD.

A surrounding situation sensor 14 is configured to obtain information ona road around the vehicle VA (e.g., a traveling lane in which thevehicle VA travels) and information on three-dimensional objects presenton the road. Examples of the three-dimensional objects include movingobjects such as automobiles (other vehicles), pedestrians, and bicycles,as well as stationary objects such as guard rails and fences. In thefollowing description, these three-dimensional objects are simplyreferred to as “objects”. For example, the surrounding situation sensor14 includes a radar sensor 14 a and a camera sensor 14 b.

The surrounding situation sensor 14 determines whether or not an objectis present, and calculates information on a relative relationshipbetween the vehicle VA and the object. The information on the relativerelationship between the vehicle VA and the object includes a distancebetween the vehicle VA and the object, an orientation (or position) ofthe object with respect to the vehicle VA, a relative speed of theobject with respect to the vehicle VA, and other such information.Hereinafter, the information obtained by the surrounding situationsensor 14 (including the information on the relative relationshipbetween the vehicle VA and the object) is referred to as “objectinformation”. The surrounding situation sensor 14 outputs the objectinformation to the driving support ECU 10.

The engine ECU 20 is connected to an engine actuator 21. The engineactuator 21 includes a throttle valve actuator configured to change anopening degree of a throttle valve of an engine 22. The engine ECU 20can drive the engine actuator 21 to change a torque generated by theengine 22. The torque generated by the engine 22 is transmitted to drivewheels via a transmission (not shown). Thus, the engine ECU 20 cancontrol the engine actuator 21 to control a driving force of the vehicleVA, to thereby change an acceleration or acceleration state of thevehicle VA.

When the vehicle VA is a hybrid vehicle, the engine ECU 20 is capable ofcontrolling a driving force to be generated by any one of or both of “anengine and a motor” serving as vehicle driving sources. Further, whenthe vehicle VA is an electric vehicle, the engine ECU 20 is capable ofcontrolling a driving force to be generated by a motor serving as avehicle driving source.

Further, the brake ECU 30 is connected to a brake actuator 31 which is ahydraulic control actuator of friction brake mechanisms 32. The brakeactuator 31 is provided in a hydraulic circuit (not shown) extendingbetween a master cylinder configured to pressurize hydraulic oil with astepping force applied to the brake pedal 12 a and the friction brakemechanisms 32 provided in front left, front right, rear left, and rearright wheels. The brake actuator 31 adjusts a hydraulic pressure to besupplied to a wheel cylinder integrated into a brake caliper 32 b in thebrake mechanism 32 in accordance with an instruction from the brake ECU30. With the wheel cylinder being operated by the hydraulic pressure, abrake pad is pressed against a brake disc 32 a to generate a frictionbraking force. Thus, the brake ECU 30 can control the brake actuator 31to control the braking force of the vehicle VA, to thereby change anacceleration state (a deceleration, namely, a negative acceleration) ofthe vehicle VA.

The driving support ECU 10 is connected to a microphone 41, a display42, and a speaker 43. The microphone 41 acquires/detects a voice utteredby an occupant (for example, a driver) of the vehicle VA, and outputsvoice data to the driving support ECU 10. The display 42 is amulti-information display provided in front of a seat of the driver. Ahead-up display may be adopted as the display 42. When the speaker 43receives a sound command from the driving support ECU 10, the speaker 43utters/generates a sound according to the sound command. The display 42and the speaker 43 may be collectively referred to as a “notificationdevice”.

A steering wheel (not shown) of the vehicle VA has an operating device50 for following-travel inter-vehicle-distance control. The operatingdevice 50 is disposed at a position facing the driver and operable bythe driver. The following-travel inter-vehicle-distance control may bereferred to as “Adaptive Cruise Control”. Hereinafter, this control issimply referred to as “ACC”.

The driving support ECU 10 is connected to switches (operating parts) onthe operating device 50 listed below, and is configured to receiveoutput signals from those switches. The operating device 50 includes amain switch 51, a cancellation switch 52, a resuming switch 53, asetting switch 54, a speed increasing switch 55, a speed decreasingswitch 56, and an inter-vehicle time setting switch 57. Methods foroperating these switches 51 to 57 will be described later.

(Outline of ACC)

Hereinafter, the driving support ECU 10 will be simply referred to as“ECU 10”. The ECU 10 is configured to perform the ACC as the drivingsupport control. The ACC itself is well known (see, for example,Japanese Patent Application Laid-Open (kokai) No. 2014-148293, JapanesePatent Application Laid-Open (kokai) No. 2006-315491, and JapanesePatent No. 4172434).

The ACC includes two types of controls; i.e., constant speed travelcontrol, and preceding-vehicle following-travel control. The constantspeed travel control is control for adjusting the acceleration of thevehicle VA such that the travel speed of the vehicle VA matches (becomesequal to) a target speed (set speed) Vset, without requiring operationsof the accelerator pedal 11 a and the brake pedal 12 a. Thepreceding-vehicle following-travel control is control for causing thevehicle VA to follow a preceding vehicle travelling immediately ahead ofthe vehicle VA, while maintaining an inter-vehicle distance between thepreceding vehicle and the vehicle VA at a target inter-vehicle distance.

When the ACC is started (the main switch 51 becomes an on state asdescribed later), the ECU 10 determines, on the basis of the objectinformation obtained by the surrounding situation sensor 14, whether ornot there is a following target vehicle. The following target vehicle isa vehicle which is traveling ahead of (immediately ahead of) the vehicleVA and which is to be followed by the vehicle VA. For example, the ECU10 determines whether or not a detected object (n) is present within apredetermined followed-up vehicle area.

In the case where the object (n) is not present in the followed-upvehicle area, the ECU 10 determines that there is no following targetvehicle. In this case, the ECU 10 performs the constant speed travelcontrol. At the start of the ACC, the target speed Vset may be set tothe vehicle speed SPD at that time point. The ECU 10 determines a targetacceleration Gtgt such that the vehicle speed SPD of the vehicle VAmatches (becomes equal to) the target speed Vset. In order that theacceleration of the vehicle VA matches the target acceleration Gtgt, theECU 10 controls the drive force by controlling the engine actuator 21 byusing the engine ECU 20 and, when necessary, controls the braking forceby controlling the brake actuator 31 by using the brake ECU 30.

In contrast, in the case where the object (n) is present in thefollowed-up vehicle area for a predetermined period of time or longer,the ECU 10 chooses that object (n) as the following target vehicle (a).The ECU 10 then performs the preceding-vehicle following-travel control.Specifically, the ECU 10 determines the target acceleration Gtgt on thebasis of a “deviation between an inter-vehicle distance to the followingtarget vehicle (a) and a target inter-vehicle distance Dset” and a“relative speed of the following target vehicle (a) with respect to thevehicle VA,” etc. The target inter-vehicle distance Dset is calculatedby multiplying a target inter-vehicle time Ttgt by the vehicle speed SPDof the vehicle VA (Dset=Ttgt×SPD). The driver can set or change thetarget inter-vehicle time Ttgt by operating the inter-vehicle timesetting switch 57. In order to render the acceleration of the vehicle VAcoincident with the target acceleration Gtgt, as described above, theECU 10 controls the engine actuator 21 and, when necessary, controls thebrake actuator 31.

(Methods of Operating Switches of Operating Device)

Next, methods of operating the respective switches 51 to 57 of theoperating device 50 will be described. The main switch 51 is a switch tobe operated by the driver when the ACC is started or stopped. Every timethe main switch 51 is depressed, a state of the main switch 51 changesbetween on and off states. When the state of the main switch 51 isswitched from the off state to the on state, the ECU 10 changes anoperating state of the ACC from an off state to an on state (that is,the ECU 10 starts the ACC). Meanwhile, when the state of the main switch51 is switched from the on state to the off state, the ECU 10 changesthe operating state of the ACC from the on state to the off state (thatis, the ECU 10 stops the ACC).

The cancellation switch 52 is a switch to be operated by the driver whenthe ACC is cancelled (temporarily stopped). Every time the cancellationswitch 52 is depressed, a state of the cancellation switch 52 changesbetween on and off states. When the cancellation switch 52 becomes theon state in a period during which the main switch 51 is in the on state(the ACC is being executed), the ECU 10 changes the operating state ofthe ACC from the on state to a temporary off state (hereinafter referredto as a “cancellation state”) to thereby stops the ACC.

The resuming switch 53 is a switch to be operated by the driver when theACC is resumed after the operating state of the ACC is changed to thecancellation state. The resuming switch 53 is configured to become an onstate when pressed by the driver, and become an off state when notpressed by the driver. When the state of the resuming switch 53 ischanged from the off state to the on state in a situation in which themain switch 51 is in the on state and the cancellation switch 52 is inthe on state (namely, in a state in which the operating state of the ACCis the cancellation state), the ECU 10 changes the operating state ofthe ACC to the on state (that is, the ECU 10 resumes the ACC). When theACC is resumed, the ECU 10 changes the state of the cancellation switch52 to the off state. Further, the ECU 10 resumes the constant speedtravel control by using the target speed Vset used at the time when theoperating state of the ACC was changed to the cancellation state.

The setting switch 54 is a switch to be operated by the driver when thetarget speed Vset is set. The setting switch 54 is configured to becomean on state when pressed by the driver, and become an off state when notpressed by the driver. When the state of the setting switch 54 ischanged from the off state to the on state after the ACC is started, theECU 10 sets the target speed Vset to the “vehicle speed SPD at the pointin time when the setting switch 54 becomes the on state (namely, thepoint in time when the driver presses the setting switch 54).”

The speed increasing switch 55 is a switch to be operated by the driverwhen the target speed Vset is increased. The speed increasing switch 55is configured to become an on state when pressed by the driver, andbecome an off state when not pressed by the driver. In another example,the speed increasing switch 55 and the resuming switch 53 may beintegrated into one switch.

An “operation performed on the speed increasing switch 55 in such amanner that the on state of the speed increasing switch 55 is continued(maintained) for a predetermined first long press time Tlp1 or longer”will be referred to as a “long press operation of the speed increasingswitch 55.” In the case where the long press operation of the speedincreasing switch 55 is performed in a situation in which the operatingstate of the ACC is the on state, the ECU 10 increases the target speedVset while the on state of the speed increasing switch 55 continuesafter elapse of the first long press time Tlp1. Specifically, the ECU 10increases the target speed Vset stepwise (by a first increase amount Vi1each time) every time a first interval time Tin1 elapses.

An “operation performed on the speed increasing switch 55 in such amanner that, after the speed increasing switch 55 has been switched fromthe off state to the on state, the state of the speed increasing switch55 is returned from the on state to the off state before elapse of thefirst long press time Tlp1” will be referred to as a “short pressoperation of the speed increasing switch 55.” In the case where theshort press operation of the speed increasing switch 55 is performed ina situation in which the operating state of the ACC is the on state, theECU 10 increases the target speed Vset by a second increase amount Vi2.

The speed decreasing switch 56 is a switch to be operated by the driverwhen the target speed Vset is decreased. The speed decreasing switch 56is configured to become an on state when pressed by the driver, andbecome an off state when not pressed by the driver.

An “operation performed on the speed decreasing switch 56 in such amanner that the on state of the speed decreasing switch 56 is continued(maintained) for a predetermined second long press time Tlp2 or longer”will be referred to as a “long press operation of the speed decreasingswitch 56.” In the case where the long press operation of the speeddecreasing switch 56 is performed in a situation in which the operatingstate of the ACC is the on state, the ECU 10 decreases the target speedVset while the on state of the speed decreasing switch 56 continuesafter elapse of the second long press time Tlp2. Specifically, the ECU10 decreases the target speed Vset stepwise (by a first decrease amountVd1 each time) every time a second interval time Tin2 elapses.

An “operation performed on the speed decreasing switch 56 in such amanner that, after the speed decreasing switch 56 has been switched fromthe off state to the on state, the state of the speed decreasing switch56 is returned from the on state to the off state before elapse of thesecond long press time Tlp2” will be referred to as a “short pressoperation of the speed decreasing switch 56.” In the case where theshort press operation of the speed decreasing switch 56 is performed ina situation in which the operating state of the ACC is the on state, theECU 10 decreases the target speed Vset by a second decrease amount Vd2.

The first long press time Tlp1 and the second long press time Tlp2 maybe set to the same value. The first increase amount Vi1 and the firstdecrease amount Vd1 may be set to the same value. The second increaseamount Vi2 and the second decrease amount Vd2 may be set to the samevalue. In addition, the first interval time Tin1 and the second intervaltime Tin2 may be set to the sane value.

The inter-vehicle time setting switch 57 is a switch to be operated bythe driver when the target inter-vehicle time Ttgt for thepreceding-vehicle following-travel control is set. Every time theinter-vehicle time setting switch 57 is depressed in a situation inwhich the operating state of the ACC is the on state, the targetinter-vehicle time Ttgt is changed. The driver can select one of threelevels of time (long, medium, short) as the target inter-vehicle timeTtgt.

Further, the ECU 10 can disable the respective functions of the switches51 to 57 under a specific situation described later (when a routine ofFIG. 9 is executed). For example, when the ECU 10 disables the functionof the main switch 51, the state of the main switch 51 is not changedeven if the driver operates (depresses) the main switch 51.

(Voice Recognition Processing)

The ECU 10 executes voice recognition processing on the voice dataacquired from the microphone 41, and stores a voice recognition resultin the RAM 103 as text data. The ECU 10 holds/maintains the voicerecognition result in the RAM 103 for a predetermined period of time.The ROM 102 of the ECU 10 stores therein an acoustic model and arecognition dictionary in advance. The ECU 10 compares the acquiredvoice data with the acoustic model to extract features, and matches theextracted features with the recognition dictionary to thereby performvoice recognition. Such voice recognition processing is well known (see,for example, Japanese Patent Application Laid-open No. 2012-063537 andWO 2007/091462).

The ECU 10 determines whether or not a setting change request isissued/performed on the basis of the voice recognition result, theoperating state of the ACC, a traveling state (including the vehiclespeed SPD) of the vehicle VA, and the like. The setting change requestis a request for changing a setting state of the ACC.

The setting change request includes a plurality of types of requests.Specifically, the setting change request includes an ACC-on request, anACC-off request (cancellation request), a speed increasing request, anda speed decreasing request. The ACC-on request is a request for changingthe operating state of the ACC from the off state to the on state. TheACC-off request is a request for changing the operating state of the ACCfrom the on state to the cancellation state (temporary off state). Thespeed increasing request is a request for increasing the target speedVset which is a control parameter for the constant speed travel control.The speed decreasing request is a request for decreasing the targetspeed Vset.

1. ACC-On Request

The ECU 10 determines that the ACC-on request is issued when all of thefollowing conditions A1 and A2 are satisfied.

-   -   (Condition A1): The voice recognition result includes a “word        related to the ACC” and a “word related to the on state”.    -   (Condition A2): The operating state of the ACC is the off state        or the cancellation state at the present time.

The ECU 10 refers to a word table 200 illustrated in FIG. 2 to determinewhether or not the condition A1 is satisfied. The word table 200 isstored in the ROM 102. The word table 200 defines a set of words relatedto the ACC, a set of words related to the on state, a set of wordsrelated to the off state, a set of words related to the target speed,and the like. It is now assumed that the voice recognition result is“start ACC”. In this case, the voice recognition result includes theword related to the ACC (i.e., “ACC”), and the word related to the onstate (i.e., “start”). Therefore, the ECU 10 determines that thecondition A1 is satisfied.

2. ACC-Off Request

The ECU 10 determines that the ACC-off request is issued when all of thefollowing conditions B1 and B2 are satisfied.

-   -   (Condition B1): The voice recognition result includes the “word        related to the ACC” and the “word related to the off state”.    -   (Condition B2): The operating state of the ACC is the on state        at the present time.

As described above, the ECU 10 refers to the word table 200 to determinewhether or not the condition B1 is satisfied. It is now assumed that thevoice recognition result is “cancel cruise control”. In this case, thevoice recognition result includes the word related to the ACC (i.e.,“cruise control”), and the word related to the off state (i.e.,“cancel”). Therefore, the ECU 10 determines that the condition B1 issatisfied.

3. Speed Increasing Request

The ECU 10 determines that the speed increasing request is issued whenall of the following conditions C1 to C4 are satisfied.

-   -   (Condition C1): The voice recognition result includes the “word        related to the target speed” and a “numerical value related to        the vehicle speed”. The “numerical value related to the vehicle        speed” herein includes a simple numerical value, and a        combination of a numerical value and a predetermined unit (e.g.,        “km”, “mile”).    -   (Condition C2): The operating state of the ACC is the on state,        and the constant speed travel control is being performed at the        present time.    -   (Condition C3): The following relational expression is        satisfied: SPD<Vn. Here, “SPD” is the vehicle speed at the        present time, and “Vn” is the “numerical value related to the        vehicle speed” in the voice recognition result.    -   (Condition C4): The following relational expression is        satisfied: Vth1<Vn<Vth2. Here, “Vth1” is a lower limit value of        the vehicle speed that can be set as the target speed Vset, and        “Vth2” is an upper limit value of the vehicle speed that can be        set as the target speed Vset.

As described above, the ECU 10 refers to the word table 200 to determinewhether or not the condition C1 is satisfied. It is now assumed that thevoice recognition result is “set target speed to 80 km”. In this case,the voice recognition result includes the word related to the targetspeed (i.e., “target speed”), and the numerical value related to thevehicle speed (i.e., “80 km”). Therefore, the ECU 10 determines that thecondition C1 is satisfied.

4. Speed Decreasing Request

The ECU 10 determines that the speed decreasing request is issued whenall of the following conditions D1 to D4 are satisfied.

-   -   (Condition D1): The voice recognition result includes the “word        related to the target speed” and the “numerical value related to        the vehicle speed”.    -   (Condition D2): The operating state of the ACC is the on state,        and the constant speed travel control is being performed at the        present time.    -   (Condition D3): The following relational expression is        satisfied: SPD>Vn. As described above, “SPD” is the vehicle        speed at the present time, and “Vn” is the “numerical value        related to the vehicle speed” in the voice recognition result.    -   (Condition D4): The following relational expression is        satisfied: Vth1<Vn<Vth2.

As described above, the ECU 10 refers to the word table 200 to determinewhether or not the condition D1 is satisfied.

(Setting Change Confirmation Processing)

When the ECU 10 determines that the setting change request is issued,the ECU 10 executes “setting change confirmation processing” for makingthe driver confirm/check the content of the setting change request.Specifically, the ECU 10 refers to an approval operation table 300illustrated in FIG. 3 to determine an approval operation in accordancewith the type of the setting change request. The approval operation isan operation to be performed by the driver when approving the content ofthe setting change request made through the driver's utterance. In thepresent example, the approval operation is an operation on one of theswitches 51 to 57. The approval operation table 300 is stored in the ROM102. The approval operation table 300 defines a relationship between thetype of the setting change request and the approval operation.

The ECU 10 uses the notification device (including the display 42 andthe speaker 43) to notify/inform the driver of confirmation informationfor causing the driver to confirm/check the content of the settingchange request. In the present example, the confirmation informationincludes information on the content of the setting change requestdetermined through the voice recognition processing, and information onthe approval operation determined by referring to the approval operationtable 300.

the “content of the setting change request” in the confirmationinformation matches the request intended by the driver (that is, thecontent spoken by the driver), the driver performs the approvaloperation notified by the confirmation information. When the approvaloperation is performed by the driver, the ECU 10 changes the settingstate of the ACC in accordance with the setting change request. As aresult, the ECU 10 performs (or stops) the ACC in accordance with thechanged setting state.

On the other hand, the “content of the setting change request” in theconfirmation information does not match the request intended by thedriver, the driver can recognize that his or her voice/utterance waserroneously recognized. Therefore, the driver does not perform theapproval operation. In this case, the ECU 10 does not change the settingstate of the ACC in accordance with the setting change request. In thismanner, even if the setting change request different from the driver'sintention is made due to the utterance being erroneously recognized, theapparatus can prevent the setting state of the ACC from being seterroneously. The setting change confirmation processing for each of theACC-on request, the ACC-off request, the speed increasing request, andthe speed decreasing request will be described below in order.

1. Setting Change Confirmation Processing: ACC-On Request

When the ECU 10 determines that the ACC-on request is issued, the ECU 10refers to the approval operation table 300 to determine the “pressoperation of the main switch 51” as the approval operation. Then, theECU 10 executes notifying processing of the confirmation information byusing the notification device (42 and 43). Specifically, the ECU 10displays confirmation information 400 illustrated in FIG. 4 on thedisplay 42. The confirmation information 400 includes information 401indicating that the ACC-on request has been received, and information402 on the approval operation corresponding to the ACC-on request.Further, the ECU 10 causes the speaker 43 to utter the information 401and the information 402.

When the information 401 matches the content uttered by the driverhimself/herself, the driver performs the press operation of the mainswitch 51 as the approval operation. When the press operation of themain switch 51 is performed within a predetermined time threshold Tthfrom the time point at which the above-described notifying processing isexecuted, the ECU 10 changes the operating state of the ACC to the onstate.

2. Setting Change Confirmation Processing: ACC-Off Request

When the ECU 10 determines that the ACC-off request is issued, the ECU10 refers to the approval operation table 300 to determine the “pressoperation of the cancellation switch 52” as the approval operation.Then, the ECU 10 displays confirmation information 500 illustrated inFIG. 5 on the display 42. The confirmation information 500 includesinformation 501 indicating that the ACC-off request has been received,and information 502 on the approval operation corresponding to theACC-off request. Further, the ECU 10 causes the speaker 43 to utter theinformation 501 and the information 502.

When the information 501 matches the content uttered by the driverhimself/herself, the driver performs the press operation of thecancellation switch 52 as an approval operation. When the pressoperation of the cancellation switch 52 is performed within the timethreshold Tth from the time point at which the above-described notifyingprocessing is executed, the ECU 10 changes the operating state of theACC to the cancellation state (temporary off state).

3. Setting Change Confirmation Processing: Speed Increasing Request

When the ECU 10 determines that the speed increasing request is issued,the ECU 10 refers to the approval operation table 300 to determine the“long press operation of the speed increasing switch 55” as the approvaloperation. Then, the ECU 10 displays confirmation information 600illustrated in FIG. 6 on the display 42. The confirmation information600 includes information 601 indicating that the speed increasingrequest has been received, and information 602 on the approval operationcorresponding to the speed increasing request. Further, the ECU 10causes the speaker 43 to utter the information 601 and the information602.

When the information 601 matches the content uttered by the driverhimself/herself, the driver performs the long press operation of thespeed increasing switch 55 as the approval operation. When the longpress operation of the speed increasing switch 55 is performed withinthe time threshold Tth from the time point at which the above-describednotifying processing is executed, the ECU 10 sets the target speed Vsetin accordance with the speed increasing request (that is, the content ofthe information 601).

4. Setting Change Confirmation Processing: Speed Decreasing Request

When the ECU 10 determines that the speed decreasing request is issued,the ECU 10 refers to the approval operation table 300 to determine the“long press operation of the speed decreasing switch 56” as the approvaloperation. Then, the ECU 10 displays confirmation information 700illustrated in FIG. 7 on the display 42. The confirmation information700 includes information 701 indicating that the speed decreasingrequest has been received, and information 702 on the approval operationcorresponding to the speed decreasing request. Further, the ECU 10causes the speaker 43 to utter the information 701 and the information702.

When the information 701 matches the content uttered by the driverhimself/herself, the driver performs the long press operation of thespeed decreasing switch 56 as the approval operation. When the longpress operation of the speed decreasing switch 56 is performed withinthe time threshold Tth from the time point at which the above-describednotifying processing is executed, the ECU 10 sets the target speed Vsetin accordance with the speed decreasing request (that is, the content ofthe information 701).

(Operation)

Every time a predetermined time (hereinafter referred to as “firsttime”) elapses, the CPU 101 of the driving support ECU 10 is configuredto execute a routine illustrated in FIG. 8 . Hereinafter the CPU 101 ofthe driving support ECU 10 is simply referred to as the “CPU”.

Further, every time the first time elapses, the CPU executes a routine(not shown) to acquire the voice data from the microphone 41.Furthermore, every time the first time elapses, the CPU executes aroutine (not shown) to acquire the detection signals or output signalsfrom the sensors 11 to 14 and the switches 51 to 57.

When a predetermined timing has come, the CPU starts the process fromStep 800 of FIG. 8 and proceeds to Step 801 to determine whether or nota value of a setting change request flag Fr (hereinafter simply referredto as “request flag Fr”) is “0”. The value of the request flag Fr is setto “1” when the setting change request is issued through the utteranceof the driver (see Step 804 described later). The value of the requestflag Fr is set to “0” in an initialization routine to be executed by theCPU when a position of an ignition switch (not shown) is changed from anoff position to an on position. Further, the value of the request flagFr is set to “0” also in Step 907 of a routine of FIG. 9 describedlater.

When the value of the request flag Fr is not “0”, the CPU makes a “No”determination in Step 801, and proceeds directly to Step 895 to end thecurrent execution of the present routine.

It is now assumed that the value of the request flag Fr is “0”. In thiscase, the CPU makes a “Yes” determination in Step 801, and proceeds toStep 802 to execute the voice recognition processing for the voice dataacquired from the microphone 41 as described above. Next, in Step 803,the CPU determines whether or not the setting change request (that is,any one of the ACC-on request, the ACC-off request, the speed increasingrequest, and the speed decreasing request) is issued/performed.

It is assumed that the setting change request is issued. In this case,the CPU makes a “Yes” determination in Step 803, and proceeds to Step804 to set the value of the request flag Fr to “1”. Thereafter, the CPUproceeds to Step 895 to end the current execution of the presentroutine.

On the other hand, when the setting change request is not issued, theCPU makes a “No” determination in Step 803, and proceeds directly toStep 895 to end the current execution of the present routine.

Further, every time a predetermined second time equal to the first timeor longer than the first time elapses, the CPU is configured to executea routine illustrated in FIG. 9 .

When a predetermined timing has come, the CPU starts the process fromStep 900 of FIG. 9 , and proceeds to Step 901 to determine whether ornot the value of the request flag Fr is “1”. When the value of therequest flag Fr is not “1”, the CPU makes a “No” determination in Step901, and proceeds directly to Step 995 to end the current execution ofthe present routine.

It is now assumed that the setting change request is issued through theutterance of the driver, and therefore, the value of the request flag Fris “1” (see Step 804). In this case, the CPU makes a “Yes” determinationin Step 901, and sequentially executes Step 902 to Step 904 which aredescribed below. Thereafter, the CPU proceeds to Step 905.

Step 902: The CPU refers to the approval operation table 300 illustratedin FIG. 3 to determine the approval operation in accordance with thetype of the setting change request.

Step 903: The CPU disables the functions of the switches other than theswitch used for the approval operation determined in Step 902. Forexample, when the ACC-on request is issued, the CPU disables therespective functions of switches (52, 53, 54, 55, 56 and 57) other thanthe main switch 51.

Step 904: The CPU executes the notifying processing of the confirmationinformation (400, 500, 600 or 700) by using the notification device (thedisplay 42 and the speaker 43) as described above.

As the CPU proceeds to Step 905, the CPU determines whether or not theapproval operation (which has been determined in Step 902) is performed.When the approval operation is performed, the CPU makes a “Yes”determination in Step 905, and sequentially executes Step 906 to Step908 which are described below. Thereafter, the CPU proceeds to Step 995to end the current execution of the present routine.

Step 906: The CPU changes the setting state of the ACC in accordancewith the setting change request.

Step 907: The CPU sets the value of the request flag Fr to “0”. Step908: The CPU enables the respective functions of the switches that weredisabled in Step 903.

On the other hand, when the approval operation is not performed, the CPUmakes a “No” determination in Step 905, and proceeds to Step 909. InStep 909, the CPU determines whether an elapsed time Ta since a timepoint at which the notifying processing was executed in Step 904 islonger than the time threshold Tth. When the elapsed time Ta is equal toor shorter than the time threshold Tth, the CPU makes a “No”determination in Step 909, and returns to Step 905 to determine whetherthe approval operation is performed.

When the elapsed time Ta is longer than the time threshold Tth withoutthe approval operation being performed, the CPU makes a “Yes”determination in Step 909, and proceeds to Step 910 to execute informingprocessing. Specifically, the CPU uses the notification device to informthe driver that the approval operation is not performed. Next, the CPUsequentially executes Steps 907 and 908 as described above. Thereafter,the CPU proceeds to Step 995 to end the current execution of the presentroutine. In this case, since the driver does not approve the settingchange request, the setting state of the ACC is not changed.

According to the present embodiment, when the apparatus determines thatthe setting change request is issued, the apparatus uses thenotification device to notify the driver of the confirmation information(400, 500, 600, or 700) including the content of the setting changerequest and the information on the approval operation. When the driverperforms the operation corresponding to the “information on the approvaloperation (402, 502, 602, or 702)” in the confirmation information, theapparatus changes the setting state of the ACC in accordance with thesetting change request.

The apparatus may determine that the setting change request differentfrom an intention of the driver is issued, due to his/her utterancebeing erroneously recognized. In such a case, since the content of thesetting change request in the confirmation information does not matchthe request intended by the driver, the driver can understand thathis/her utterance has been erroneously recognized. Therefore, the driverdoes not perform the approval operation. Since the driver does notperform the approval operation, the apparatus does not change thesetting state of the ACC in accordance with the setting change request.In this manner, even if the setting change request different from theintention of the driver is issued due to the erroneous recognition forhis/her utterance, it is possible to prevent the setting state of theACC from being set erroneously.

Further, the apparatus refers to the approval operation table 300 tochange the switch (any one of 51, 52, 55 and 56) of the operating device50 to be operated when the driver performs the approval operation, inaccordance with the type of the setting change request. The switch to beoperated for the approval operation is set so as to correspond to thecontent of the setting change request. For example, when the ACC-onrequest is issued, the approval operation is the press operation of themain switch 51. In this way, since the switches to be operated whenperforming the approval operation differ from each other depending onthe type of the setting change request, it is possible to confirm theintention of the driver more accurately.

The present disclosure is not limited to at least one embodimentdescribed above, and various modification examples can be adopted withinthe scope of the present disclosure.

Modification Example 1

As the switch to be operated when performing the approval operation,only a specific one of the switches 51 to 57 may be used regardless ofthe type of the setting change request. In one or more embodiments, theapproval operation may be the press operation of the main switch 51regardless of the type of the setting change request. In one or moreembodiments, one or more switches/buttons (not shown) other than theswitches 51 to 57 may be used as the switch for the approval operation.

Modification Example 2

In one or more embodiments, the approval operation may not be requiredfor a specific request among the above-mentioned requests. An example ofsuch a request may be the ACC-off request. When the ACC-off request isissued, the driver often wishes to perform a driving operation(acceleration operation or deceleration operation) by himself/herself assoon as possible. In such a case, when the driver is requested toperform the approval operation, the driver may feel the operation to betroublesome. Therefore, the apparatus may change the setting state ofthe ACC to the cancellation state (temporary off state) withoutrequesting the driver to perform the approval operation. Accordingly, itis possible to reduce the possibility that the driver feels troublesome.Even if the ACC-off request is issued due to the utterance of the driverbeing erroneously recognized, the setting state of the ACC is merelychanged to the off state, and the vehicle VA is not accelerated ordecelerated suddenly. Therefore, the influence on the traveling state ofthe vehicle VA is small.

The CPU 101 of the driving support ECU 10 according to this example isconfigured to execute a routine illustrated in FIG. 10 in place of theroutine of FIG. 9 . The routine of FIG. 10 is a routine in which Step1001 is added to the routine of FIG. 9 .

When the CPU starts the routine of FIG. 10 and makes a “Yes”determination in Step 901, the CPU proceeds to Step 1001. In Step 1001,the CPU determines whether the setting change request is the ACC-offrequest. When the setting change request is the ACC-off request, the CPUmakes a “Yes” determination in Step 1001, and executes Steps 906 to 908as described above. Thereafter, the CPU proceeds to Step 1095 to end thecurrent execution of the present routine. In this manner, when thesetting change request is the ACC-off request, the CPU changes theoperating state of the ACC to the cancellation state without requestingthe driver to perform the approval operation.

Modification Example 3

The setting change request is not limited to the above example. In oneor more embodiments, the setting change request may include aninter-vehicle time setting request for requesting increase or decreaseof the target inter-vehicle time Ttgt which is a control parameter ofthe preceding-vehicle following-travel control. In this configuration,as illustrated in FIG. 11 , the approval operation for the inter-vehicletime setting request may be the press operation of the inter-vehicletime setting switch 57.

In one or more embodiments, the setting change request may include oneor more requests for changing a setting state of the driving supportcontrol other than the ACC. In one or more embodiments, the ECU 10 maybe configured to perform the lane tracing assist control (LTA) under asituation in which the ACC is being performed. In this configuration,the setting change request may include an LTA-on request for changing anoperating state of the LTA from an off state to an on state, and anLTA-off request for changing the operating state of the LTA from the onstate to the off state.

Modification Example 4

In one or more embodiments, the driving support ECU 10 may receive aplurality of setting change requests at the same time, and determine oneapproval operation for those setting change requests.

For example, when all of the following conditions E1 and E2 aresatisfied, the driving support ECU 10 determines that the ACC-on requestand a speed setting request are issued at the same time. The speedsetting request is a request for setting the target speed Vset at thestart of the ACC.

-   -   (Condition E1): The voice recognition result includes the word        related to the ACC, the word related to the on state, and the        numerical value related to the vehicle speed.    -   (Condition E2): The operating state of the ACC is the off state        or the cancellation state at the present time.

It is assumed that the voice recognition result is “Start ACC, and setthe speed to 80 km”. In this case, the voice recognition result includesthe word related to the ACC (=“ACC”), the word related to the on state(=“Start”), and the numerical value related to the vehicle speed (=“80km”). Thus, the ECU 10 determines that the condition E1 is satisfied.

As illustrated in FIG. 11 , the approval operation for the ACC-onrequest and the speed setting request is the long press operation of thespeed increasing switch 55. When the long press operation of the speedincreasing switch 55 is performed, the ECU 10 changes the operatingstate of the ACC to the on state, and sets the target speed Vset to “80km/h”. In this example, when the plurality of setting change requestsare issued, the ECU 10 determines, as the approval operation, theoperation on one (the speed increasing switch 55) from among theswitches 51 to 57. Therefore, the operability is improved. Since it isnot necessary for the driver to operate the plurality of switches, it ispossible to reduce the possibility that the driver feels the operationto be troublesome.

In one or more embodiments, two or more setting change requests may berelated to one word. The ACC-on request and the LTA-on request may berelated to the word “highway mode”. In this configuration, the ECU 10determines that the ACC-on request and the LTA-on request are issued atthe same time when all of the following conditions F1 and F2 aresatisfied.

-   -   (Condition F1): The voice recognition result includes the word        “highway mode”, and the word related to the on state.    -   (Condition F2): The operating state of the ACC is the off state        or the cancellation state at the present time, and the operating        state of the LTA is the off state at the present time.

It is assumed that the voice recognition result is “Start highway mode”.In this case, the voice recognition result includes the word “highwaymode”, and the word related to the on state (=“Start”). Thus, the ECU 10determines that the condition F1 is satisfied.

As illustrated in FIG. 11 , the approval operation for the ACC-onrequest and the LTA-on request (that is, the highway mode) is the pressoperation of the main switch 51. When the press operation of the mainswitch 51 is performed, the ECU 10 changes the operating state of theACC to the on state, and changes the operating state of the LTA to theon state.

Modification Example 5

In one or more embodiments, in Step 903 of the routine of FIG. 9 , theCPU may maintain the function of a specific switch in an availablestate, in addition to the switch for the approval operation. An exampleof such a switch is the cancellation switch 52. When the press operationof the cancellation switch 52 is performed, the driver intends toperform the driving operation (acceleration operation or decelerationoperation) by himself/herself. Therefore, the CPU may immediately switchthe driving operation from the ACC to the driver.

In Step 903, the CPU may disable the respective functions of theswitches other than the switch for the approval operation and thecancellation switch 52. In this case, while the CPU executes the routineof FIG. 9 , the function of the cancellation switch 52 is maintained inthe available state. It is assumed that the CPU determines that therequest other than the ACC-off request (for example, the speedincreasing request or the speed decreasing request) is issued (Step 803:Yes), and then, the driver operates the cancellation switch 52 beforeperforming the approval operation for that request. In response to thisoperation, the CPU changes the operating state of the ACC to thecancellation state (temporary off state). According to this example,when the driver presses the cancellation switch 52 before Step 905 inthe routine of FIG. 9 , the CPU can immediately reflect the intention ofthe driver to change the operating state of the ACC to the off state.

What is claimed is: 1-7. (canceled)
 8. A setting change assist apparatuscomprising: an operating device configured to be operable by apassenger, said operating device including a first operating part and asecond operating part; and a controller configured to: execute voicerecognition processing for recognizing an utterance of said passenger;determine whether a setting change request for changing a setting stateof driving support control is issued by said utterance; when it isdetermined that said setting change request is issued by said utterance,discriminate said setting change request; determine based on saiddiscriminated setting change request that an operation for said firstoperating part is an approval operation and disable an operation forsaid second operating part; and change said setting state of saiddriving support control in accordance with said discriminated settingchange request, when said approval operation is carried out.
 9. Thesetting change assist apparatus according to claim 8, wherein, saidoperating device includes a third operating part; and said controller isconfigured to: when it is determined that said operation for said firstoperating part is said approval operation, disable said second operatingpart without disabling said first operating part and said thirdoperating part; and change said setting state of said driving supportcontrol in response to a function assigned to said third operating part,when an operation for said third operating part is carried out.
 10. Thesetting change assist apparatus according to claim 9, wherein, saidsetting change request includes an on request which is a request forchanging said operating state of said driving support control from anoff state to an on state, and an off request which is a request forchanging said operating state of said driving support control from saidon state to said off state; and said controller is configured; when saidcontroller determines that said on request is issued by said utteranceas said setting change request, determine that said operation for saidfirst operating part is said approval operation for said on request, anddisable said operation for said second operating part; when saidoperation for said first operating part is carried out, change saidsetting state of said driving support control from said off state tosaid on state; and when said operation for said third operating part iscarried out, change said setting state of said driving support controlfrom said on state to said off state.